STABILIZED CONTROLLER DESIGN FOR ATTITUDE AND ALTITUDE CONTROLLING OF QUAD-ROTOR UNDER DISTURBANCE AND NOISY CONDITIONS | Science Publications

American Journal of Applied Sciences

M. Hassan Tanveer¹  Faizan A. Warsi¹  S. Faiz Ahmed¹  D. Hazry¹  M. Kamran Joyo¹ 

关键词: Quad-rotor;    Takeoff/Landing and Altitude Control;    PID;    Lyapunov Stability Theorem;    Extended Kalman Filter;   

DOI  :  10.3844/ajassp.2013.819.831

学科分类：自然科学（综合）

来源: Science Publications

【 摘 要 】

This article presents a control approach to obtain the better stabilization in attitude and altitude of quad-rotor under different disturbance conditions. In the standard Quad-rotor rotor type UAV, controlling of attitude and altitude is one of the most critical tasks and appropriate controller for stabilization of UAV is essential and necessary. These two controls under various conditions of disturbances was a field of research stimulating for the researchers. The controller proposed is contingent on the PID feedback structure with Extended Kalman Filter (EKF). From Lyapunov Stability Theorem, it is proved that quad-rotor proposed altitude control system is asymptotic as well exponentially stability. Extended Kalman Filter (EKF) is used to filter out the sensors and system noises. Finally, the simulations carried out on MATLAB and the result proved the effectiveness of proposed recommended method for stabilization of attitude and altitude of quad-rotor.

【 授权许可】

Unknown